/* deleteNodeOfId deletes the node from the list that is holding a polygon with a certain id
* Parameter: (int) idToDelete is the id of the polygon being held by the node to be deleted
* Return: none
*/
public void deleteNodeOfId(int idToDelete)
{
AIFringeSearchNode tempFront = frontOfList;
if (frontOfList != null)
{
if (doesIDMatch(frontOfList.getPolygon().getID(), idToDelete) == true)
{
frontOfList = frontOfList.getNextNode();
numberOfNodesHeld--;
return;
}
AIFringeSearchNode tempback = tempFront.getNextNode();
while ((tempback.getNextNode() != null) && (doesIDMatch(tempback.getPolygon().getID(), idToDelete) == false))
{
tempFront = tempback;
tempback = tempFront.getNextNode();
}
if (doesIDMatch(tempback.getPolygon().getID(), idToDelete) == true)
{
tempFront.setNextNode(tempback.getNextNode());
}
numberOfNodesHeld--;
}
}
/* getNodeOnList returns node from list that contains a specified polygon
* Parameter: (AIPolygon) polygonToCheck is the polygon being held by the node to be returned
* Return: (AIFringeSearchNode)
* node on list that is holding polygonToCheck
*/
public AIFringeSearchNode getNodeOnList(AIPolygon polygonToCheck)
{
AIFringeSearchNode tempFront = frontOfList;
if (tempFront == null)
{
return(null);
}
if (doesIDMatch(polygonToCheck.getID(), tempFront.getPolygon().getID()) == true)
{
return(tempFront);
}
AIFringeSearchNode tempBack = tempFront.getNextNode();
while ((tempBack != null) && (tempBack.getNextNode() != null) && (doesIDMatch(polygonToCheck.getID(), tempBack.getPolygon().getID()) == false))
{
tempFront = tempBack;
tempBack = tempFront.getNextNode();
}
if (tempBack == null)
{
return(null);
}
if (doesIDMatch(polygonToCheck.getID(), tempBack.getPolygon().getID()) == true)
{
return(tempBack);
}
return(null);
}
/*
* fringeSearch method will preform the fringe search
* Parameter: none
* Return: none
*/
void fringeSearch()
{
AIFringeSearchNode tempNode = fringeList.getNodeOnList(startingPolygon); // the first polygon in the list
fLimit = tempNode.getHCost(); //the first limit
AIFringeSearchList curList = fringeList; //the current list that will be looked at
AIFringeSearchList nextList = new AIFringeSearchList(goalPosition); //the list that the not good polygons will be put into
while (goalFound == false && (curList.isEmpty() == false || nextList.isEmpty() == false))
{
fMin = float.MaxValue; //reset the fMin
firstMin = false; //reset the firstMin
while (curList.isEmpty() == false) //goes until the current list is empty
{
tempNode = curList.popNode();
nodesVisited++;
if (tempNode.getTotalCost() > fLimit) // the node is no good and the limit must be incresed
{
fMin = getMin(tempNode.getTotalCost(), fMin);
nextList.pushAtTheEnd(tempNode); //adds the node at the end of the nextList
continue;
}
if (tempNode.getPolygon().getHasGoal() == true) //goal node was found
{
finalSolutionStart = tempNode;
return;
}
for (int count = tempNode.getPolygon().getNeighborsHeld() - 1; count >= 0; count--)
{
AIFringeSearchNode childNode = new AIFringeSearchNode(polygonArray[tempNode.getPolygon().getNeighborAt(count)], tempNode, (tempNode.getGFromStartNode() + (tempNode.getPolygon().getCenterVector() - polygonArray[tempNode.getPolygon().getNeighborAt(count)].getCenterVector()).magnitude), goalPosition);
if (tempNode.getParentNode() == null || tempNode.getParentNode().getPolygon().getID() != childNode.getPolygon().getID()) //checks to see if the parentNode is the child node trying to be added in
{
if (cache[tempNode.getPolygon().getNeighborAt(count)] != null) //checks to see if the polygon has already been seen
{
if (childNode.getGFromStartNode() >= cache[tempNode.getPolygon().getNeighborAt(count)].getGFromStartNode())
{
continue;
}
}
if (curList.isNodeOnList(childNode.getPolygon()) == true) //checks to see if the polygon is already on the list
{
curList.deleteNodeOfId(childNode.getPolygon().getID()); //deletes the node
}
curList.enqueue(childNode.getPolygon(), childNode.getParentNode(), childNode.getGFromStartNode()); //adds the node at the front of the current list
cache[tempNode.getPolygon().getNeighborAt(count)] = childNode;
}
}
if (curList.getSize() > maxQueueSize)
{
maxQueueSize = curList.getSize();
}
}
fLimit = fMin; //sets the new Min
AIFringeSearchList tempList = curList;
curList = nextList;
nextList = tempList;
}
}
//used for debugging
void printFinalSolutionRecursively(AIFringeSearchNode currentNode)
{
if (currentNode != null)
{
printFinalSolutionRecursively(currentNode.getParentNode());
polygonFinalCount++;
}
}
/*
* addAfter will make a new polygon and add it right after the node being passed in
* Parameter: (AIPolygon)polygonToAdd is the polygon for the new node
* (AIFringeSearchNode)parentNode is the node that will be the parent of this node
* (float)gCostToAdd is the cost to get to this node
* Return: none
*/
public void addAfter(AIPolygon polygonToAdd, AIFringeSearchNode nodeToAddAfter, float gCostToAdd)
{
AIFringeSearchNode tempNode = new AIFringeSearchNode(polygonToAdd, nodeToAddAfter, gCostToAdd, goalPosition);
tempNode.setNextNode(nodeToAddAfter.getNextNode());
nodeToAddAfter.setNextNode(tempNode);
numberOfNodesHeld++;
}
/*
* enqueue method will place a node in the front of the list
* Parameter: (AIPolygon)polygonToAdd is the polygon for the new node
* (AIFringeSearchNode)parentNode is the node that will be the parent of this node
* (float)gCostToAdd is the cost to get to this node
* Return: none
*/
public void enqueue(AIPolygon polygonToAdd, AIFringeSearchNode parentNode, float gCostToAdd)
{
AIFringeSearchNode tempNode = new AIFringeSearchNode(polygonToAdd, parentNode, gCostToAdd, goalPosition);
tempNode.setNextNode(frontOfList);
frontOfList = tempNode;
numberOfNodesHeld++;
}
/*
* popNode will remove a node from the front of the the list
* Parameter: none
* Return: (AIFringeSearchNode)
* the node that was removed from the front of the list
*/
public AIFringeSearchNode popNode()
{
AIFringeSearchNode temp = frontOfList;
frontOfList = temp.getNextNode();
numberOfNodesHeld--;
return(temp);
}
/* The method AIFringeSearchNode is a contructor for the class
* Parameter: AIPolygon polygonToAdd
* AIFringeSearchNode parentToAdd
* float gCostToAdd
* Vector3 goalPositionToAdd
*/
public AIFringeSearchNode(AIPolygon polygonToAdd, AIFringeSearchNode parentToAdd, float gCostToAdd, Vector3 goalPositionToAdd)
{
polygonBeingHeld = polygonToAdd;
parentNode = parentToAdd;
gFromStartingNode = gCostToAdd;
nextNode = null;
childrenPlaced = false;
goalPosition = new Vector3(goalPositionToAdd.x, goalPositionToAdd.y, goalPositionToAdd.z);
calculateCost(gFromStartingNode, goalPosition);
}
/*
* addFinalsolutionPolygons method is a recusive method that will look at the parent of each node passed in until
* the node passed in is null, then it will add each Node's polygon to the finalSolutionArray in order
* from start until end
* Parameter: (AIFringeSearchNode)currentNode is the node that needs to be checked and then have its parent passed
* (ref int)counter is the current count of polygons in the FinalSolution array used to access the next index
* Return: none
*/
void addFinalSolutionPolygons(AIFringeSearchNode currentNode, ref int counter)
{
if (currentNode != null)
{
addFinalSolutionPolygons(currentNode.getParentNode(), ref counter);
finalSolutionArray [counter] = currentNode.getPolygon();
if (counter != 0)
{
finalPathCost += (finalSolutionArray[counter].getCenterVector() - finalSolutionArray[counter - 1].getCenterVector()).magnitude;
}
counter++;
}
}
/*
* getNodeAtIndex method will get a node at a certian index in the list
* Parameter: (int)index is the index in the list that the caller wants the node of
* Return: (AIFringeSearchNode)
* the node that was at the index being passed int
*/
public AIFringeSearchNode getNodeAtIndex(int index)
{
if (index == 0)
{
return(frontOfList);
}
AIFringeSearchNode temp = frontOfList;
for (int count = 0; count < index; count++)
{
temp = temp.getNextNode();
}
return(temp);
}
/*
* pushAtTheEnd method will take a node and push it at the back of the lsit
* parameter: (AIFringeSearchNode)nodeToPush is the node the caller wants at the back of the list
* Return: none
*/
public void pushAtTheEnd(AIFringeSearchNode nodeToPush)
{
if (frontOfList == null)
{
nodeToPush.setNextNode(frontOfList);
frontOfList = nodeToPush;
numberOfNodesHeld++;
return;
}
AIFringeSearchNode tempNode = getNodeAtIndex(getSize() - 1);
nodeToPush.setNextNode(tempNode.getNextNode());
tempNode.setNextNode(nodeToPush);
numberOfNodesHeld++;
}
/* The method setParentNode sets the parent node of the curretn node
* Parameter: AIFringeSearchNode newParentNode - node to be set as parent *
*/
public void setParentNode(AIFringeSearchNode newParentNode)
{
parentNode = newParentNode;
}
/* The method setNextNode sets the next node of the current node
* AIFringeSearchNode newNextNode - node to be set as next
*/
public void setNextNode(AIFringeSearchNode newNextNode)
{
nextNode = newNextNode;
}
/*
* AIFringeSearchList's constructor will set up the initial values for the instance variables
* Parameter: (Vector3)goalPositionToAdd is the position of the goal
*/
public AIFringeSearchList(Vector3 goalPositionToAdd)
{
frontOfList = null;
numberOfNodesHeld = 0;
goalPosition = goalPositionToAdd;
}